Discrete Event Control and Fault Detection and Localization of a Robotic System

A robotic system at the discrete event level requires a suitable discrete event controller that guarantees coordination and dead lock avoidance. It requires also a robust system of fault detection and localization based on minimum feedback information. This paper proposes a new approach fulfilling the discrete event coordinated control and also achieving the fault detection and localization (FDL) tasks. This approach is based on Petri net model of the robotic system, on Petri net supervisor employing place invariant technique, and based on a Petri net diagnoser on employing g-marking concept. The robotic system under investigation is composed of two autonomous robots to be moved in five rooms according to certain crossing control rules. The application of the proposed approach results in coordinated robots motion and detection and localization of a simulated fault.